Error Servo Tracking

    Dear people,

    I would like to create an program where an robot needs to follow the movement of an workpiece. This workpiece moves in an unstable proces down from place A to B.

    Right now I keep getting the alarm Servo Tracking Error or Overload. When I look at the robot, these alarms can be related. Namely, this happens when the workpiece is moving faster or slower than the speed at which the robot is moving at some point. This causes the robot to lose the workpiece or overload one of the axes because the workpiece exerts such a large force on it.


    To ensure that the robot never loses the workpiece and moves with the workpiece, I had the idea of using the servo float function. By doing so, I hoped that the robot would be virtually weightless in the Z axis making tracking the workpiece a lot easier. However, so far this has not led to the desired result.

    I would like the robot to move downwards when no pressure is applied and to move upwards when the workpiece exerts pressure on the robot.

    I have entered the weight of the tool, center of gravity and moment of inertia but at the moment I turn on the servo float without a movement I do not see the robot move down. So as a result I have to add a movement to my program, this creates the alarm of Servo Tracking error.

    Right now I am using the link servo float, where I have the U,R,B,T turned on at 80%,60%,40%,100%. I have tried adding the L axis only I see no difference in the posture.

    Furthermore I tried to use the Linear servo float with only the Z axis with a value of 10 kgf, this also had no effect.


    Are there any other option I could try? Or do somebody have some tips at the settings?

    Thanks in advance.

  • MOM April 13, 2024 at 10:25 AM

    Approved the thread.

    The robot needs to install some equipment on a surface. This equipment is already being placed and held at it the surface. The robot needs to screw this equipment so therefore it needs to follow its path down

    I hope this helps a little bit?

    The ieseast way is to use a compatible manipulator in combination with a driver from yaskawa

    so you could use it as a 7th axis in which case you can control the exact speed ect.

    Another possibility is to use a frequency regulator for the manipulator and send out

    bit signals to regulate the speed true the robot...

    In which you would have a much more controlled environment

    But i am no expert in these matters.

    This is what i do, that doesn't mean it's the right way to do it. :smiling_face:

    Your second solution is as we have it right now. We get from our manipulator its current speed as an feedback signal. We convert/calculate this to an double value which we are sending to the robot controller. However the result of using this method is that the robot does not follow its workpiece properly

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